I have created a basic debug viewer for Bullet while working on my game engine.
It uses three.js to render debug lines, and communicates to the application (i.e. server) via web socket.
Link: https://github.com/malhotraprateek/bullet-visualization
Included in the repo is some reference code for creating the server (C++) using the net11 library (details on github).
For now, it can only draw debug lines (no contact points or text).
The project is MIT licensed and contributions are very welcome
![Smile :)](./images/smilies/icon_smile.gif)